• Journal of the Ergonomics Society of Korea
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• v.9 no.1
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• pp.21-27
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• 1990

Teaching Expert System/World Coordinate System(TES/WDS) was proposed to improve robot motion control. First, precise coordinate reading for getting the inherent data about position and posture of task objects was performed throgh the integrated image and fuzzy processing. Second, singularity and parameter limitation problems in getting the motion data about position and posture of robot in macro motion were solved by proposed geometric algorithm. Third, the unnecessary robot motion was also removed by the Robot Time and Motion (RTM) method and the Multi-Geometric Straight-Line Motion (MGSLM) method in micro motion. This results demonstrated reduction of the average teaching task time according to task order.

• Journal of the Korean Society for Precision Engineering
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• v.27 no.10
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• pp.61-68
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• 2010

In order to let the humanoid robot walk on the uneven terrains, the robot's foot should have the similar structure and function as human's. The intelligent foot should be made up of toes and heel. When it walks on the uneven terrains, the foot's sole senses the force and adjusts foot's position before robot losing his balance. In this paper, the force sensors of robot's intelligent foot for having the similar structure and function like human are developed. The heel 3-axis force/moment sensor and toe force sensors for humanoid robot's intelligent foot is developed, and the characteristic tests of them are carried out. As a result of characteristic test, the interference error of the heel 3-axis force/moment sensor is less than 2.2%. It is thought that the developed force sensors could be used to measure the reaction forces which is applied the toes and the heel of a humanoid robot.

• Journal of the HCI Society of Korea
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• v.3 no.1
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• pp.27-32
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• 2008

As studies on more realistic human-robot interface are being actively carried out, people's interests about telepresence which remotely controls robot and obtains environmental information through video display are increasing. In order to provide natural telepresence services by moving a remote robot, it is required to recognize user's behaviors. The recognition of user movements used in previous telepresence system was difficult and costly to be implemented, limited in its applications to human-robot interaction. In this paper, using the Nintendo's Wii controller getting a lot of attention in these days and infrared LEDs, we propose an immersive user interface that easily recognizes user's position and gaze direction and provides remote video information through HMD.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.27 no.1
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• pp.18-25
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• 2003

A haptic hand controller (HHC) operated by the user’s hand can receive information on position and orientation of the hand and display force and moment generated in the virtual environment to the hand. In this paper, a 3-DOF hand controller is first presented, in which all the actuators are mounted on the fixed base by combining a 5-bar linkage and a gimbal mechanism. The 6-DOF HHC is then designed by connecting these two 3-DOF devices through a handle which consists of a screw and nut. Analysis using performance index is carried out to determine the dimensions of the device. The HHC control system consists of the high-level controller for kinematic and static analysis and the low-level controller for position sensing and motor control. The HHC used as a user interface to control the mobile robot in the virtual environment is given as a simple application.

• The Journal of the Korea institute of electronic communication sciences
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• v.8 no.1
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• pp.27-40
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• 2013

This study is about development of technology system for an advanced deep-sea unmanned underwater robot of S. Korea analysed by the application of scenario planning. It was developed a 6000m class next-generation deep-sea unmanned underwater vehicle(or robot, UUV) system, soonly ROV 'Hemire' and Depressor 'Henuvy' in 2006 at S. Korea and motion control, adaptive control algolithm, a work-space manipulator control algolithm, especially the underwater inertial-acoustic navigation system robust to initial errors and sensor failures. But there are remained matters on position tracking of the USBL, inertial-acoustic navigation system, attitude sensor, designed sonar sensors. So this study suggest the new idea for settle the matters and then this idea help the development of the underwater inertial-acoustic navigation system robust to initial errors and sensor failures, such as acoustic signal drop-out, by modifying the error covariance of the failed sonar signal when drop-out occurs. As a result, the future policy for deep-sea unmanned underwater robot of S. Korea is to further spur the development of new technology and more improvement of the technology level for deep-sea unmanned underwater robot system with indicator and imaginary wall as external device.

• Journal of the Korean Society for Precision Engineering
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• v.27 no.11
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• pp.30-36
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• 2010

Previous researches show that linearly integrated Hall sensor arrays (LIHaS) can detect cracks in the steel structure fast and effectively This paper proposes an algorithm that estimates the size and shape of cracks for the developed LIHaS. In most nondestructive testing (NDT), just crack existence and location are obtained by processing 1-dimensional data from the sensor that scans the object with relative speed in single direction. The proposed method is composed with two steps. The first step is constructing 2-dimensionally mapped data space by combining the converted position data from the time-based scan data with the position information of sensor arrays those are placed in the vertical direction to the scan direction. The second step is applying designed Laplacian filter and smoothing filter to estimate the size and shape of cracks. The experimental results of express train wheels show that the proposed algorithm is not only more reliable and accurate to detecting cracks but also effective to estimate the size and shape of cracks.